rosbag2

Rosbag2 is the native recording and playback tool for ROS 2 systems, serving as the successor to the original ROS rosbag. It enables efficient capture and replay of timestamped communication data between ROS nodes, which is essential for debugging, analysis, and simulation in robotics development.

Key Features

• Efficient Recording — Designed to support complex robotic systems in real time with minimal overhead.
• Flexible Playback — Replays recorded data with options for rate control, topic filtering, and service-based remote control.
• File Splitting — Automatically splits bag files based on maximum size or duration thresholds during recording.
• Compression Support — Offers optional compression (e.g., zstd) to reduce storage footprint.
• Snapshot Mode — Maintains an in-memory circular buffer to capture and save data only on demand, useful for triggered events.
• QoS Overrides — Allows custom Quality of Service profiles per topic via YAML configuration.
• Storage Plugins — Supports multiple storage backends like MCAP and SQLite3 via a plugin architecture.
• Composable Nodes — Recorder and player can be run as composable C++ nodes to enable intra-process communication for higher performance.

Philosophy

Rosbag2 prioritizes efficiency and flexibility, aiming to handle real-time data flows in complex robotic systems while providing a modular, plugin-based architecture for storage and serialization formats.